#!/bin/bash
T=`mktemp -d`
trap 'cd /; [ -d $T ] && rm -rf $T' SIGINT SIGTERM EXIT
cd $T

calc() { echo "scale=1; $1" | bc; }
icalc() { echo "scale=0; ($1)*1" | bc | sed 's/\..*//'; }

parse_time () {
    case $1 in
    -)   echo "0" ;;
    *ns) icalc "${1%ns}" ;;
    *us|*µs) icalc "1000*${1%us}" ;;
    *ms) icalc "1000*1000*${1%ms}" ;;
    *s)  icalc "1000*1000*1000*${1%s}" ;;
    *)   if [ $1 -lt 1000 ]; then icalc "1000$*1"; else icalc "$1"; fi ;;
    esac
}

human_time () {
    if [ "$1" -eq 0 ]; then echo "-"
    elif [ "$1" -ge 1000000000 ]; then echo "$(calc $1/1000/1000/1000)s"
    elif [ "$1" -ge 1000000 ]; then echo "$(calc $1/1000/1000)ms"
    elif [ "$1" -ge 1000 ]; then echo "$(calc $1/1000)µs"
    else echo "$1ns"
    fi
}

BASE=$(parse_time 25us); SERVO=$(parse_time 1ms)
case $# in
0) ;;
1) BASE=$(parse_time $1) ;;
2) BASE=$(parse_time $1); SERVO=$(parse_time $2) ;;
*)
    echo "Usage: latency-test [base-period [servo-period]]"
    echo "Default: latency-test 25us 1ms"
    echo "Times may be specified with suffix \"s\", \"ms\", \"us\" \"µs\", or \"ns\""
    echo "Times without a suffix and less than 1000 are taken to be in us;"
    echo "other times without a suffix are taken to be in ns"
    exit 1
esac

if [ "$BASE" -gt "$SERVO" ]; then TEMP=$BASE; BASE=$SERVO; SERVO=$TEMP; fi
if [ "$BASE" -eq "$SERVO" ]; then BASE=0; fi

BASE_HUMAN=$(human_time $BASE)
SERVO_HUMAN=$(human_time $SERVO)
if [ $BASE -eq 0 ]; then
cat > lat.hal <<EOF
loadrt threads name1=slow period1=$SERVO
loadrt timedelta count=1
addf timedelta.0 slow
start
loadusr -Wn lat pyvcp lat.xml
net sl timedelta.0.max => lat.sl
net sj timedelta.0.jitter => lat.sj
net st timedelta.0.out => lat.st
waitusr lat
EOF

cat > lat.xml <<EOF
<pyvcp>
<title title="EMC2 / HAL Latency Test"/>
<axisoptions/>
<table>
<tablerow/><tablespan columns="5"/><label wraplength="5i" justify="left">
<text>
"""Let this test run for a few minutes, then note the maximum Jitter.  You will use it while configuring emc2.

While the test is running, you should "abuse" the computer. Move windows around on the screen. Surf the web. Copy some large files around on the disk. Play some music. Run an OpenGL program such as glxgears. The idea is to put the PC through its paces while the latency test checks to see what the worst case numbers are."""
</text>
</label>
<tablerow/><label/><label text="Max Interval (ns)" font="Helvetica 12 italic"/><label text="Max Jitter (ns)" font="Helvetica 12 italic"/><label text="Last interval (ns)" font="Helvetica 12 italic"/>
<tablerow/><label text="Servo thread ($SERVO_HUMAN):"/><s32 halpin="sl"/><s32 halpin="sj" font="Helvetica 12 bold"/><s32 halpin="st"/>
</table>
</pyvcp>
EOF
else
cat > lat.hal <<EOF
loadrt threads name1=fast period1=$BASE name2=slow period2=$SERVO
loadrt timedelta count=2
addf timedelta.0 fast
addf timedelta.1 slow
start
loadusr -Wn lat pyvcp lat.xml
net sl timedelta.1.max => lat.sl
net sj timedelta.1.jitter => lat.sj
net st timedelta.1.out => lat.st
net bl timedelta.0.max => lat.bl
net bj timedelta.0.jitter => lat.bj
net bt timedelta.0.out => lat.bt
waitusr lat
EOF

cat > lat.xml <<EOF
<pyvcp>
<title title="EMC2 / HAL Latency Test"/>
<axisoptions/>
<table>
<tablerow/><tablespan columns="5"/><label wraplength="5i" justify="left">
<text>
"""Let this test run for a few minutes, then note the maximum Jitter.  You will use it while configuring emc2.

While the test is running, you should "abuse" the computer. Move windows around on the screen. Surf the web. Copy some large files around on the disk. Play some music. Run an OpenGL program such as glxgears. The idea is to put the PC through its paces while the latency test checks to see what the worst case numbers are."""
</text>
</label>
<tablerow/><label/><label text="Max Interval (ns)" font="Helvetica 12 italic"/><label text="Max Jitter (ns)" font="Helvetica 12 italic"/><label text="Last interval (ns)" font="Helvetica 12 italic"/>
<tablerow/><label text="Servo thread ($SERVO_HUMAN):"/><s32 halpin="sl"/><s32 halpin="sj" font="Helvetica 12 bold"/><s32 halpin="st"/>
<tablerow/><label text="Base thread ($BASE_HUMAN):"/><s32 halpin="bl"/><s32 halpin="bj" font="Helvetica 12 bold"/><s32 halpin="bt"/>
</table>
</pyvcp>
EOF
fi

halrun lat.hal